from time import sleep import sys import serial import threading import time import math class KISS(): FEND = 0xC0 FESC = 0xDB TFEND = 0xDC TFESC = 0xDD CMD_UNKNOWN = 0xFE CMD_DATA = 0x00 CMD_FREQUENCY = 0x01 CMD_BANDWIDTH = 0x02 CMD_TXPOWER = 0x03 CMD_SF = 0x04 CMD_CR = 0x05 CMD_RADIO_STATE = 0x06 CMD_RADIO_LOCK = 0x07 CMD_DETECT = 0x08 CMD_PROMISC = 0x0E CMD_READY = 0x0F CMD_STAT_RX = 0x21 CMD_STAT_TX = 0x22 CMD_STAT_RSSI = 0x23 CMD_STAT_SNR = 0x24 CMD_BLINK = 0x30 CMD_RANDOM = 0x40 CMD_FW_VERSION = 0x50 CMD_ROM_READ = 0x51 DETECT_REQ = 0x73 DETECT_RESP = 0x46 RADIO_STATE_OFF = 0x00 RADIO_STATE_ON = 0x01 RADIO_STATE_ASK = 0xFF CMD_ERROR = chr0x90 ERROR_INITRADIO = chr0x01 ERROR_TXFAILED = chr0x02 ERROR_EEPROM_LOCKED = chr0x03 @staticmethod def escape(data): data = data.replace(bytes([0xdb]), bytes([0xdb, 0xdd])) data = data.replace(bytes([0xc0]), bytes([0xdb, 0xdc])) return data class RNodeInterface(): MTU = 500 MAX_CHUNK = 32768 FREQ_MIN = 137000000 FREQ_MAX = 1020000000 LOG_CRITICAL = 0 LOG_ERROR = 1 LOG_WARNING = 2 LOG_NOTICE = 3 LOG_INFO = 4 LOG_VERBOSE = 5 LOG_DEBUG = 6 LOG_EXTREME = 7 RSSI_OFFSET = 157 SNR_OFFSET = 128 def __init__(self, callback, name, port, frequency = None, bandwidth = None, txpower = None, sf = None, cr = None, loglevel = -1, flow_control = True): self.serial = None self.loglevel = loglevel self.callback = callback self.name = name self.port = port self.speed = 115200 self.databits = 8 self.parity = serial.PARITY_NONE self.stopbits = 1 self.timeout = 100 self.online = False self.frequency = frequency self.bandwidth = bandwidth self.txpower = txpower self.sf = sf self.cr = cr self.state = KISS.RADIO_STATE_OFF self.bitrate = 0 self.r_frequency = None self.r_bandwidth = None self.r_txpower = None self.r_sf = None self.r_cr = None self.r_state = None self.r_lock = None self.r_stat_rx = None self.r_stat_tx = None self.r_stat_rssi = None self.r_stat_snr = None self.r_random = None self.packet_queue = [] self.flow_control = flow_control self.interface_ready = False self.validcfg = True if (self.frequency < RNodeInterface.FREQ_MIN or self.frequency > RNodeInterface.FREQ_MAX): self.log("Invalid frequency configured for "+str(self), RNodeInterface.LOG_ERROR) self.validcfg = False if (self.txpower < 0 or self.txpower > 17): self.log("Invalid TX power configured for "+str(self), RNodeInterface.LOG_ERROR) self.validcfg = False if (self.bandwidth < 7800 or self.bandwidth > 500000): self.log("Invalid bandwidth configured for "+str(self), RNodeInterface.LOG_ERROR) self.validcfg = False if (self.sf < 7 or self.sf > 12): self.log("Invalid spreading factor configured for "+str(self), RNodeInterface.LOG_ERROR) self.validcfg = False if (not self.validcfg): raise ValueError("The configuration for "+str(self)+" contains errors, interface is offline") try: self.log("Opening serial port "+self.port+"...") self.serial = serial.Serial( port = self.port, baudrate = self.speed, bytesize = self.databits, parity = self.parity, stopbits = self.stopbits, xonxoff = False, rtscts = False, timeout = 0, inter_byte_timeout = None, write_timeout = None, dsrdtr = False, ) except Exception as e: self.log("Could not open serial port for interface "+str(self), RNodeInterface.LOG_ERROR) raise e if self.serial.is_open: sleep(2.0) thread = threading.Thread(target=self.readLoop) thread.setDaemon(True) thread.start() self.online = True self.log("Serial port "+self.port+" is now open") self.log("Configuring RNode interface...", RNodeInterface.LOG_VERBOSE) self.initRadio() if (self.validateRadioState()): self.interface_ready = True self.log(str(self)+" is configured and powered up") sleep(1.0) else: self.log("After configuring "+str(self)+", the actual radio parameters did not match your configuration.", RNodeInterface.LOG_ERROR) self.log("Make sure that your hardware actually supports the parameters specified in the configuration", RNodeInterface.LOG_ERROR) self.log("Aborting RNode startup", RNodeInterface.LOG_ERROR) self.serial.close() raise IOError("RNode interface did not pass validation") else: raise IOError("Could not open serial port") def log(self, message, level): pass def initRadio(self): self.setFrequency() self.setBandwidth() self.setTXPower() self.setSpreadingFactor() self.setRadioState(KISS.RADIO_STATE_ON) def setFrequency(self): c1 = self.frequency >> 24 c2 = self.frequency >> 16 & 0xFF c3 = self.frequency >> 8 & 0xFF c4 = self.frequency & 0xFF data = KISS.escape(chr(c1)+chr(c2)+chr(c3)+chr(c4)) kiss_command = KISS.FEND+KISS.CMD_FREQUENCY+data+KISS.FEND written = self.serial.write(kiss_command) if written != len(kiss_command): raise IOError("An IO error occurred while configuring frequency for "+self(str)) def setBandwidth(self): c1 = self.bandwidth >> 24 c2 = self.bandwidth >> 16 & 0xFF c3 = self.bandwidth >> 8 & 0xFF c4 = self.bandwidth & 0xFF data = KISS.escape(chr(c1)+chr(c2)+chr(c3)+chr(c4)) kiss_command = KISS.FEND+KISS.CMD_BANDWIDTH+data+KISS.FEND written = self.serial.write(kiss_command) if written != len(kiss_command): raise IOError("An IO error occurred while configuring bandwidth for "+self(str)) def setTXPower(self): txp = chr(self.txpower) kiss_command = KISS.FEND+KISS.CMD_TXPOWER+txp+KISS.FEND written = self.serial.write(kiss_command) if written != len(kiss_command): raise IOError("An IO error occurred while configuring TX power for "+self(str)) def setSpreadingFactor(self): sf = chr(self.sf) kiss_command = KISS.FEND+KISS.CMD_SF+sf+KISS.FEND written = self.serial.write(kiss_command) if written != len(kiss_command): raise IOError("An IO error occurred while configuring spreading factor for "+self(str)) def setCodingRate(self): cr = chr(self.cr) kiss_command = KISS.FEND+KISS.CMD_CR+cr+KISS.FEND written = self.serial.write(kiss_command) if written != len(kiss_command): raise IOError("An IO error occurred while configuring coding rate for "+self(str)) def setRadioState(self, state): kiss_command = KISS.FEND+KISS.CMD_RADIO_STATE+state+KISS.FEND written = self.serial.write(kiss_command) if written != len(kiss_command): raise IOError("An IO error occurred while configuring radio state for "+self(str)) def validateRadioState(self): self.log("Validating radio configuration for "+str(self)+"...", RNodeInterface.LOG_VERBOSE) sleep(0.25); if (self.frequency != self.r_frequency): self.log("Frequency mismatch", RNodeInterface.LOG_ERROR) self.validcfg = False if (self.bandwidth != self.r_bandwidth): self.log("Bandwidth mismatch", RNodeInterface.LOG_ERROR) self.validcfg = False if (self.txpower != self.r_txpower): self.log("TX power mismatch", RNodeInterface.LOG_ERROR) self.validcfg = False if (self.sf != self.r_sf): self.log("Spreading factor mismatch", RNodeInterface.LOG_ERROR) self.validcfg = False if (self.validcfg): return True else: return False def setPromiscuousMode(self, state): if state == True: kiss_command = KISS.FEND+KISS.CMD_PROMISC+chr(0x01)+KISS.FEND else: kiss_command = KISS.FEND+KISS.CMD_PROMISC+chr(0x00)+KISS.FEND written = self.serial.write(kiss_command) if written != len(kiss_command): raise IOError("An IO error occurred while configuring promiscuous mode for "+self(str)) def updateBitrate(self): try: self.bitrate = self.r_sf * ( (4.0/self.cr) / (math.pow(2,self.r_sf)/(self.r_bandwidth/1000)) ) * 1000 self.bitrate_kbps = round(self.bitrate/1000.0, 2) self.log(str(self)+" On-air bitrate is now "+str(self.bitrate_kbps)+ " kbps", RNodeInterface.LOG_DEBUG) except: self.bitrate = 0 def processIncoming(self, data): self.callback(data, self) def send(self, data): self.processOutgoing(data) def processOutgoing(self,data): if self.online: if self.interface_ready: if self.flow_control: self.interface_ready = False data = KISS.escape(data) frame = chr(0xc0)+chr(0x00)+data+chr(0xc0) written = self.serial.write(frame) if written != len(frame): raise IOError("Serial interface only wrote "+str(written)+" bytes of "+str(len(data))) else: self.queue(data) def queue(self, data): self.packet_queue.append(data) def process_queue(self): if len(self.packet_queue) > 0: data = self.packet_queue.pop(0) self.interface_ready = True self.processOutgoing(data) elif len(self.packet_queue) == 0: self.interface_ready = True def readLoop(self): try: in_frame = False escape = False command = KISS.CMD_UNKNOWN data_buffer = "" command_buffer = "" last_read_ms = int(time.time()*1000) while self.serial.is_open: if self.serial.in_waiting: byte = self.serial.read(1) last_read_ms = int(time.time()*1000) if (in_frame and byte == KISS.FEND and command == KISS.CMD_DATA): in_frame = False self.processIncoming(data_buffer) data_buffer = "" command_buffer = "" elif (byte == KISS.FEND): in_frame = True command = KISS.CMD_UNKNOWN data_buffer = "" command_buffer = "" elif (in_frame and len(data_buffer) < RNodeInterface.MTU): if (len(data_buffer) == 0 and command == KISS.CMD_UNKNOWN): command = byte elif (command == KISS.CMD_DATA): if (byte == KISS.FESC): escape = True else: if (escape): if (byte == KISS.TFEND): byte = KISS.FEND if (byte == KISS.TFESC): byte = KISS.FESC escape = False data_buffer = data_buffer+byte elif (command == KISS.CMD_FREQUENCY): if (byte == KISS.FESC): escape = True else: if (escape): if (byte == KISS.TFEND): byte = KISS.FEND if (byte == KISS.TFESC): byte = KISS.FESC escape = False command_buffer = command_buffer+byte if (len(command_buffer) == 4): self.r_frequency = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3]) self.log(str(self)+" Radio reporting frequency is "+str(self.r_frequency/1000000.0)+" MHz", RNodeInterface.LOG_DEBUG) self.updateBitrate() elif (command == KISS.CMD_BANDWIDTH): if (byte == KISS.FESC): escape = True else: if (escape): if (byte == KISS.TFEND): byte = KISS.FEND if (byte == KISS.TFESC): byte = KISS.FESC escape = False command_buffer = command_buffer+byte if (len(command_buffer) == 4): self.r_bandwidth = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3]) self.log(str(self)+" Radio reporting bandwidth is "+str(self.r_bandwidth/1000.0)+" KHz", RNodeInterface.LOG_DEBUG) self.updateBitrate() elif (command == KISS.CMD_TXPOWER): self.r_txpower = ord(byte) self.log(str(self)+" Radio reporting TX power is "+str(self.r_txpower)+" dBm", RNodeInterface.LOG_DEBUG) elif (command == KISS.CMD_SF): self.r_sf = ord(byte) self.log(str(self)+" Radio reporting spreading factor is "+str(self.r_sf), RNodeInterface.LOG_DEBUG) self.updateBitrate() elif (command == KISS.CMD_CR): self.r_cr = ord(byte) self.log(str(self)+" Radio reporting coding rate is "+str(self.r_cr), RNodeInterface.LOG_DEBUG) self.updateBitrate() elif (command == KISS.CMD_RADIO_STATE): self.r_state = ord(byte) elif (command == KISS.CMD_RADIO_LOCK): self.r_lock = ord(byte) elif (command == KISS.CMD_STAT_RX): if (byte == KISS.FESC): escape = True else: if (escape): if (byte == KISS.TFEND): byte = KISS.FEND if (byte == KISS.TFESC): byte = KISS.FESC escape = False command_buffer = command_buffer+byte if (len(command_buffer) == 4): self.r_stat_rx = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3]) elif (command == KISS.CMD_STAT_TX): if (byte == KISS.FESC): escape = True else: if (escape): if (byte == KISS.TFEND): byte = KISS.FEND if (byte == KISS.TFESC): byte = KISS.FESC escape = False command_buffer = command_buffer+byte if (len(command_buffer) == 4): self.r_stat_tx = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3]) elif (command == KISS.CMD_STAT_RSSI): if (byte == KISS.FESC): escape = True else: if (escape): if (byte == KISS.TFEND): byte = KISS.FEND if (byte == KISS.TFESC): byte = KISS.FESC escape = False self.r_stat_rssi = ord(byte)-self.RSSI_OFFSET elif (command == KISS.CMD_STAT_SNR): if (byte == KISS.FESC): escape = True else: if (escape): if (byte == KISS.TFEND): byte = KISS.FEND if (byte == KISS.TFESC): byte = KISS.FESC escape = False self.r_stat_snr = ord(byte)-self.SNR_OFFSET elif (command == KISS.CMD_RANDOM): self.r_random = ord(byte) elif (command == KISS.CMD_ERROR): if (byte == KISS.ERROR_INITRADIO): self.log(str(self)+" hardware initialisation error (code "+self.hexrep(byte)+")", RNodeInterface.LOG_ERROR) elif (byte == KISS.ERROR_INITRADIO): self.log(str(self)+" hardware TX error (code "+self.hexrep(byte)+")", RNodeInterface.LOG_ERROR) else: self.log(str(self)+" hardware error (code "+self.hexrep(byte)+")", RNodeInterface.LOG_ERROR) elif (command == KISS.CMD_READY): # TODO: add timeout and reset if ready # command never arrives self.process_queue() else: time_since_last = int(time.time()*1000) - last_read_ms if len(data_buffer) > 0 and time_since_last > self.timeout: self.log(str(self)+" serial read timeout", RNodeInterface.LOG_DEBUG) data_buffer = "" in_frame = False command = KISS.CMD_UNKNOWN escape = False sleep(0.08) except Exception as e: self.online = False self.log("A serial port error occurred, the contained exception was: "+str(e), RNodeInterface.LOG_ERROR) self.log("The interface "+str(self.name)+" is now offline.", RNodeInterface.LOG_ERROR) def log(self, msg, level=3): logtimefmt = "%Y-%m-%d %H:%M:%S" if self.loglevel >= level: timestamp = time.time() logstring = "["+time.strftime(logtimefmt)+"] ["+self.loglevelname(level)+"] "+msg print(logstring) def loglevelname(self, level): if (level == RNodeInterface.LOG_CRITICAL): return "Critical" if (level == RNodeInterface.LOG_ERROR): return "Error" if (level == RNodeInterface.LOG_WARNING): return "Warning" if (level == RNodeInterface.LOG_NOTICE): return "Notice" if (level == RNodeInterface.LOG_INFO): return "Info" if (level == RNodeInterface.LOG_VERBOSE): return "Verbose" if (level == RNodeInterface.LOG_DEBUG): return "Debug" if (level == RNodeInterface.LOG_EXTREME): return "Extra" def hexrep(data, delimit=True): delimiter = ":" if not delimit: delimiter = "" hexrep = delimiter.join("{:02x}".format(ord(c)) for c in data) return hexrep def __str__(self): return "RNodeInterface["+self.name+"]"